A method for accurate map construction using time registration from a moving SOKUIKI sensor

Hirohiko Kawata; Tatsuro Ueda; Tetsuo Tomizawa; Akihisa Ohya; Shin'Ichi Yuta

doi:10.1163/016918609X12585536415780

A method for accurate map construction using time registration from a moving SOKUIKI sensor

Hirohiko Kawata, Tatsuro Ueda, Tetsuo Tomizawa, Akihisa Ohya, Shin'Ichi Yuta

Department of Electrical Engineering

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

Abstract

Mobile robots have various sensors that are considered as their eyes and a two-dimensional laser scanner (SOKUIKI sensor) is one of them. This sensor is commonly used for constructing environment maps or detecting obstacles. It is very important to estimate accurately the sensor's position and direction when scan data is obtained in order to use correctly such a sensor for these purposes. On the other hand, scanning sensors have an essencial problem: time lag. That is, the time when the laser is transmitted to each direction is different. Thus the map has many errors if the measurement time lag problem is not resolved. This paper presents a method for laser scan data synchronization using time registration and, as a practical application, we show its effectiveness for accurate map construction.

Original language	English
Pages (from-to)	69-83
Number of pages	15
Journal	Advanced Robotics
Volume	24
Issue number	1-2
DOIs	https://doi.org/10.1163/016918609X12585536415780
Publication status	Published - 2010 Jan 1

Keywords

Range data map
SDSMR
SOKUIKI sensor
Synchronous
Timing registration

ASJC Scopus subject areas

Software
Control and Systems Engineering
Human-Computer Interaction
Hardware and Architecture
Computer Science Applications

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abstract = "Mobile robots have various sensors that are considered as their eyes and a two-dimensional laser scanner (SOKUIKI sensor) is one of them. This sensor is commonly used for constructing environment maps or detecting obstacles. It is very important to estimate accurately the sensor's position and direction when scan data is obtained in order to use correctly such a sensor for these purposes. On the other hand, scanning sensors have an essencial problem: time lag. That is, the time when the laser is transmitted to each direction is different. Thus the map has many errors if the measurement time lag problem is not resolved. This paper presents a method for laser scan data synchronization using time registration and, as a practical application, we show its effectiveness for accurate map construction.",

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